一类非最小相位系统未知频率正弦干扰的观测器设计
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作者单位:

太原科技大学

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中图分类号:

TP13

基金项目:

国家自然科学基金项目(面上项目),山西省研究生教育改革项目


Observer Design of Unknown Frequency Sinusoidal Disturbance for a Class of Nonminimum Phase
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Affiliation:

Taiyuan University of science and technology

Fund Project:

National Natural Science Foundation of China (general project),Graduate education reform project in Shanxi Province

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    摘要:

    正弦干扰的补偿是控制领域中一个热点问题.近年来前馈补偿的技术得到了广泛的研究,这种方式可以提高系统的控制精度.对非最小相位系统,很难给出干扰和可测信息的直接关系,此外,频率的不确定性以及估计值之间的耦合会导致大量冗余参数的运算.现有的自适应方法存在估计值之间的耦合,增加了干扰估计误差收敛性能分析难度.目前基于干扰观测器控制(DOBC)通过调节控制器和观测器参数,可以同时对多源不确定进行补偿和抑制.本文提出一种分步式观测器设计方法,首先设计一种辅助滤波器和观测器对未知频率正弦干扰参数进行估计,同时给出干扰的等效形式.其次利用估计值构造观测器得到输入干扰状态,从而将这类非线性系统的干扰抵消问题转换为线性系统的观测器设计问题,通过李雅普诺夫定理和数值仿真验证了该方法的有效性.

    Abstract:

    The rejection of sinusoidal disturbances is an active topic in the field of control. In recent years, feedforward compensation technology has been widely studied which can improve the system control accuracy. For non-minimum phase system, it is difficult to give the direct relationship between disturbance and measurable information. In addition, the frequency uncertainty and the coupling between the estimated values will add the parameter calculation burden inevitable. The coupling between the estimated values in existing adaptive methods makes it difficult to analyze the convergence performance of disturbance estimation error. At present, disturbance observer based control (DOBC) can compensate and reject multi-source uncertainty simultaneously by adjusting controller and observer parameters. Therefore, a separate observer design method is presented in this paper. Firstly, the special auxiliary filter and observer are designed to estimate the sinusoidal disturbance parameters of unknown frequency, meanwhile, the equivalent form of disturbance is reformulated. Secondly, the observer is designed to obtain the input disturbance state. With above, the nonlinear non-minimum disturbance rejection problem can be simplified to the observer design problem for linear system. The effectiveness of the method is demonstrated by Lyapunov theorem and numerical simulation.

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  • 收稿日期:2021-11-05
  • 最后修改日期:2022-03-28
  • 录用日期:2022-03-31
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